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针对GPS/SINS(Global Positioning System/Strapdown Inertial Navigation Sys-tem)超紧密组合导航系统线性化滤波在高动态、弱GPS信号等环境下性能下降严重的问题,提出了一种以四元数UKF(Unscented Kalman Filter)为基础的GPS/SINS超紧密组合导航系统非线性滤波方法.通过分析GPS与SINS在超紧密组合导航系统中的关系,提出了一种利用SINS信息来估计、修正GPS载波信号的方法,在此基础上建立了组合导航滤波的状态方程和量测方程;以四元数乘性误差模型为基础,提出了一种可应用于UKF滤波的求解四元数加权均值的方法;提出了基于四元数UKF的GPS/SINS超紧密组合导航滤波方法.仿真实验表明:在高动态环境下,四元数UKF滤波方法增强了GPS/SINS超紧密组合导航系统的定位精度和抗干扰能力.
In order to solve the problem that the performance of GPS / SINS (Global Positioning System / Strapdown Inertial Navigation Sys-tem) linearization filtering is seriously deteriorated in high dynamic and weak GPS signals environment, Unscented Kalman Filter (GPS / SINS) .Through analyzing the relationship between GPS and SINS in the ultra-compact integrated navigation system, this paper proposes a method to estimate and correct the GPS carrier signal by using SINS information Based on this, the state equation and the measurement equation of the integrated navigation filter are established. Based on the quaternion multiplicative error model, a method of solving the quaternion weighted mean which can be applied to the UKF filter is proposed. Based on the quaternion UKF GPS / SINS ultra-tight integrated navigation filtering method, the simulation results show that the quaternion UKF filtering method enhances the positioning accuracy and anti-jamming capability of the GPS / SINS ultra-compact integrated navigation system under high dynamic environment .